CN112660264B - U-shaped foot end sensing robot leg structure and output torque detection control method - Google Patents
U-shaped foot end sensing robot leg structure and output torque detection control method Download PDFInfo
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- CN112660264B CN112660264B CN202011609984.5A CN202011609984A CN112660264B CN 112660264 B CN112660264 B CN 112660264B CN 202011609984 A CN202011609984 A CN 202011609984A CN 112660264 B CN112660264 B CN 112660264B
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Abstract
The invention relates to the technical field of foot robots, in particular to a horseshoe-shaped foot end sensing robot leg structure and an output torque detection control method, wherein the horseshoe-shaped foot end sensing robot leg structure comprises a torque output device, thighs, shanks and foot ends, a tension sensor is arranged on a shank traction connecting rod, and a pressure sensor is arranged at the foot ends. Compared with the prior art, the invention detects the pressure of the ground contact point through the pressure sensor at the foot end, detects the feedback tension through the tension sensor on the lower leg traction connecting rod and feeds back the feedback tension to the torque output device, and the torque output device compensates the torque output in real time according to the torque difference caused by the ground contact pressure and the feedback tension, thereby achieving proper torque output of the leg and avoiding the unstable phenomenon caused by overlarge or overlarge torque output.
Description
Technical Field
The invention relates to the technical field of foot robots, in particular to a horseshoe-shaped foot end sensing robot leg structure and an output torque detection control method.
Background
The foot robot can flexibly walk on the complex terrains such as unstructured and uneven land environments, such as uneven mountains, hills, marshes, jungles and the like, and further can finish the work tasks such as post-disaster rescue, marching material transportation, high-risk environment patrol and the like under the environments of earthquake, nuclear pollution, chemical pollution, field military combat and the like under special working conditions. In the walking process, because of rugged ground, height drop and the like, the leg touchdown information of the four-foot robot and the distance information between the foot end and the ground are required to be obtained so as to perform predictive control, and the leg touchdown is more stable and accurate.
The existing quadruped robot is mostly as shown in application number CN202010831977.3, and the method and system for stabilizing and controlling the dynamic gait of the quadruped robot based on foot falling adjustment are disclosed in Chinese patent application of invention, which is published in date of 11 months and 10 days in 2020, and a robot kinematics equation is deduced through an established quadruped robot model so as to design the initial gait of the robot; acquiring the trunk pitching angle and the rolling angle of the four-foot robot, so as to obtain the current trunk gesture of the four-foot robot; comparing the current trunk gesture of the four-foot robot with the initial gait, and calculating an optimal foot drop point of the four-foot robot; according to the optimal foot drop point of the four-foot robot, keeping the four-foot robot to stably move; the adjustment of the gravity center position of the four-foot robot is realized by adjusting the foot falling time difference of the diagonal legs of the four-foot robot, so that the gravity center self-balancing of the four-foot robot is realized.
Although some structures of four-foot robots capable of controlling the stability of the robots are disclosed in the prior art, the problems of low stability and poor anti-buffering capacity of leg structures of the existing robots cannot be solved.
Disclosure of Invention
In order to solve the problem of poor stability of the leg structure in the existing four-legged robot, the invention provides a foot end sensing robot leg structure in a shape of a hoof, which comprises a torque output device, thighs, calves and foot ends; the thigh is fixedly connected with the torque output device; the lower leg is hinged with one end of the thigh, one end of the lower leg is connected with the torque output device through a lower leg traction connecting rod, and the other end of the lower leg is connected with the foot end; the shank traction connecting rod is provided with a tension sensor for detecting the tension, the foot end is provided with a pressure sensor for detecting the pressure, and the pressure sensor and the tension sensor are electrically connected with the torque output device.
Further, the torque output device comprises a torque motor and a shank movement convex disc, and a machine body of the torque motor is fixedly connected with the thigh; one end of the shank movement convex disc is fixedly connected with the rotating shaft of the torque motor, and the other end of the shank movement convex disc is hinged with one end of the shank traction connecting rod.
Further, the thigh includes first curb plate, second curb plate, first connecting piece and second connecting piece, torque motor's both sides respectively with first curb plate and second curb plate link firmly mutually, first connecting piece with the second connecting piece is used for connecting first curb plate and second curb plate.
Further, the lower leg traction connecting rod further comprises a first connecting rod and a second connecting rod, wherein one end of the first connecting rod is connected with one end of the second connecting rod through the tension sensor; the other end of the first connecting rod is hinged with the shank movement convex disc, and the other end of the second connecting rod is hinged with one end of the shank.
Further, the shank comprises a shank rotating connecting rod, a shank connecting rod and a foot end connecting piece, one end of the shank rotating connecting rod is hinged with the lower end of the second connecting rod, and the other end of the shank rotating connecting rod is fixedly connected with the foot end connecting piece through the shank connecting rod; the lower leg rotating connecting rod is hinged with the lower end of the thigh, and the hinge point is positioned between the two ends of the lower leg rotating connecting rod; the lower end of the foot end connecting piece is connected with the foot end.
Further, the included angle between the axis of the lower end of the foot end connecting piece and the axis of the main shank body is 30-70 degrees; a shock absorber for reducing vibration is arranged between the foot end connecting piece and the foot end.
Further, the foot end also comprises a foot body and an elastic structure, the top of the foot body is connected with the lower leg, and the bottom outline of the foot body is of an approximately elliptic horseshoe-like structure; the elastic structure is coated at the bottom of the foot body, and the external shape of the elastic structure is matched with the shape of the bottom of the foot body; the pressure sensor is a strip-shaped film-shaped pressure sensor arranged between the foot body and the elastic structure.
Further, a distance sensor is arranged at the bottom of the foot body and used for detecting the distance between the foot end and the foot drop point.
The invention also provides a detection control method for the output torque of the leg of the horseshoe-shaped foot end perception robot, which adopts the leg structure of the horseshoe-shaped foot end perception robot, and the method comprises the following steps:
based on the pressure F measured by the pressure sensor Pressing Calculating the torque M generated by the foot end Pressing ；
According to the tension sensorMeasured tensile force F Pulling device Calculating the torque M of the foot feedback Pulling device ；
The torque output device generates a torque M according to the foot end Pressing And the torque M fed back by the foot end Pulling device The difference is used to make torque compensation output, M Output of ＝M Pulling device +Δm, where Δm= (M Pressing -M Pulling device )/2。
The invention also provides a horseshoe-shaped foot end sensing robot, which adopts the horseshoe-shaped foot end sensing robot leg structure and/or the horseshoe-shaped foot end sensing robot leg output moment detection control method.
According to the foot end sensing robot leg structure in the shape of the foot, the torque output device, the thigh, the shank and the shank traction connecting rod are hinged to form a connecting rod mechanism to control the shank to rotate, and then the foot end is driven to rise and fall. Compared with the prior art, the invention detects the pressure of the ground contact point through the pressure sensor at the foot end, detects the feedback tension through the tension sensor on the lower leg traction connecting rod and feeds back the feedback tension to the torque output device, and the torque output device compensates the torque output in real time according to the torque difference caused by the ground contact pressure and the feedback tension, so that the proper torque output of the leg is achieved, and the unstable phenomenon caused by overlarge or undersize torque output is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present invention, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.
FIG. 1 is a perspective view of a horseshoe-shaped foot end perception robot leg structure provided by the invention;
fig. 2 is a front view of the leg structure of the horseshoe-shaped foot end sensing robot provided by the invention;
FIG. 3 is a side view of the horseshoe-shaped foot end aware robot leg structure provided by the present invention;
FIG. 4 is a schematic view of the structure of the foot end according to the present embodiment;
fig. 5 is a schematic diagram of the action of the present embodiment.
Reference numerals:
10 torque output device 11 moment motor 12 shank movement cam
20 thigh 21 first side plate 22 second side plate
23 first connector 24 second connector 30 calf
31 shank rotating connecting rod 32 shank connecting rod 33 foot end connecting piece
40 foot end 41 pressure sensor 42 foot body
43 elastic construction 44 distance sensor 50 calf traction link
51 tension sensor 52 first link 53 second link
60 shock absorber
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The present invention provides a horseshoe-shaped foot end sensing robot leg structure, as shown in fig. 1, comprising a torque output device 10, a thigh 20, a shank 30, and a foot end 40; the thigh 20 is fixedly connected with the torque output device 10; the lower leg 30 is hinged to one end of the thigh 20, one end of the lower leg 30 is connected to the torque output device 10 through a lower leg traction link 50, and the other end of the lower leg 30 is connected to the foot end 40; the lower leg traction connecting rod 50 is provided with a tension sensor 51 for detecting the tension applied to the lower leg traction connecting rod, the foot end 40 is provided with a pressure sensor 41 for detecting the pressure applied to the lower leg traction connecting rod, and the pressure sensor 41 and the tension sensor 51 are electrically connected with the torque output device 10.
In specific implementation, as shown in fig. 1-3, the torque output device 10 includes a torque motor 11 and a shank movement cam 12, where a rotation shaft of the torque motor 11 is fixedly connected with a rotation center hole of the shank movement cam 12 by a key connection manner, so that the shank movement cam 12 and the motor rotation shaft perform synchronous rotation movement together; as shown in fig. 3, two sides of the body of the torque motor 11 are fixedly connected with the first side plate 21 and the second side plate 22 of the thigh 20 by a bolt connection mode, the first side plate 21 and the second side plate 22 of the thigh 20 are fixedly connected by a first connecting piece 23 and a second connecting piece 24, wherein the first connecting piece 23 and the second connecting piece 24 are both in a U-shaped structure, and the two sides fixedly connect the first side plate 21 and the second side plate 22 by a bolt connection mode to form a thigh 20 main body. The torque motor 11 in this embodiment adopts, but is not limited to, a brushless dc torque motor, and can control the torque output by the rotating shaft thereof through the system; the brushless DC torque motor is arranged at the upper end of the main body of the thigh 20, the upper end of the main body of the thigh 20 is connected with the trunk of the robot through a fixed bracket, the lower end of the main body of the thigh 20 is provided with a hinge hole, and the lower end of the main body of the thigh 20 is hinged with the shank 30 through a hinge shaft; on the other hand, the other end of the shank movement cam 12 is hinged to one end of a first link 52 of the shank traction link 50, the other end of the first link 52 is fixedly connected to one end of a second link 53 through a tension sensor 51, and both the first link 52 and the second link 53 are fixedly connected to the tension sensor 51 through bolts, wherein the tension sensor 51 is used for detecting the tension on the shank traction link 50. The other end of the second link 53 is hinged to one end of the lower leg 30 and the hinge point of the lower leg 30 to the thigh 20 is located below the hinge point of the lower leg 30 to the lower leg traction link 50. As shown in fig. 2, a four-bar mechanism consisting of a shank movement cam 12, a thigh 20, a shank traction link 50 and a shank 30 is formed, the shank movement cam 12 is driven to rotate by a torque motor 11, and then the shank 30 is driven to rotate relative to a hinge point of the shank 20 and the thigh 20 through the four-bar mechanism, and further a foot end 40 at the lower end of the shank 30 is driven to rise and fall, so that the purpose of walking is achieved; preferably, the four-bar linkage can take different lengths of connecting bars, and one of a crank rocker mechanism, a double crank mechanism or a double rocker mechanism is selected according to actual conditions. The lower end of the lower leg 30 is connected to the foot end 40 by a shock absorber 60, preferably the lower end of the lower leg 30 is rod-shaped, and the top end of the foot end 40 is provided with an opening, which form a piston connection, wherein the shock absorber 60 absorbs shock in the form of, but not limited to, a plurality of shock absorbing springs arranged around a piston rod. A pressure sensor 41 is also provided inside the foot end 40 for detecting the pressure of the plantar touchdown.
In the present embodiment, the plantar pressure F detected by the pressure sensor is due to the elastic action of the shock absorber 60 or other components Pressing Is conducted to the lower leg traction link 50 through the elastic body, so that the tension sensor 51 detects the feedback tension force F Pulling device But since the elastic force is not abrupt, the feedback tension F Pulling device Relative to plantar pressure F Pressing Hysteresis, thus torque M of foot feedback Pulling device Torque M generated relative to foot end Pressing There is also hysteresis, if the torque M generated by the foot is directly applied Pressing The moment directly output by the moment motor 11 is hard to achieve the buffering function, so the moment output device of the invention is based on the moment M generated by the foot end Pressing And the torque M fed back by the foot end Pulling device The difference is used for torque compensation output, and the invention outputs M Pulling device And M is as follows Pressing 1/2 of the torque difference is used as the control increment of the torque motor 11 to chargeThe machine performing torque control output, i.e. M Output of ＝M Pulling device +Δm, where Δm= (M Pressing -M Pulling device ) 2; when the robot leg is stable on the ground, the Mvoltage=Mpull, namely, the output holding moment controlled by the moment motor 11 is M Output of ＝M Pulling device ＝M Pressing At this time, the leg remains stationary to complete the landing motion.
Preferably, the lower leg 30 includes a lower leg rotation link 31, a lower leg link 32, and a foot end link 33, one end of the lower leg rotation link 31 is hinged to the lower end of the second link 53 of the lower leg traction link 50, the upper end of the lower leg rotation link 31 is a hinge point with the lower leg traction link 50, the lower leg 30 is hinged to the upper leg 20 through the lower leg rotation link 31, and the hinge point of the lower leg 30 and the upper leg is located below the hinge point of the lower leg rotation link 31 and the second link 53. The other end of the shank rotating and connecting rod 31 is fixedly connected with the shank connecting rod 32, the shank connecting rod 32 is one of a carbon fiber tube, a plastic tube and a light alloy tube, the lower end of the shank connecting rod 32 is fixedly connected with the foot end connecting piece 33, and the connection modes of the foot end connecting piece 33 and the shank rotating and connecting rod 31 with the shank connecting piece 32 can be a detachable fixed connection mode such as bolt fixing after sleeving or threaded connection, or a non-detachable fixed connection mode such as welding.
Preferably, the foot end connecting piece 33 is divided into an upper section and a lower section, the upper section is connected with the shank connecting piece 32, the lower section is connected with the foot end 40, the upper section is coaxial with the shank 30 main body formed by the shank connecting piece 32 and the shank rotating connecting piece 31, an included angle formed by the lower section and the axis of the upper section is 30-70 degrees, and as shown in fig. 2, the included angle is adapted to the installation angle of the foot end 40, so that the sole of the foot is downward to obtain a better ground contact angle; preferably, the axis of the lower end of the foot end connector in this embodiment is at an angle of 42 ° to the main body of the calf 30.
Preferably, the foot end 40 comprises a foot body 42 and an elastic structure 43, the top of the foot body 42 is connected with the foot end connecting piece 33 through a shock absorber 60, the lower end of the foot end connecting piece 33 is in a rod shape, the top end of the foot body 42 is provided with an opening, and the foot end 42 and the opening form a piston connection, wherein the shock absorber 60 absorbs shock in a mode of arranging a plurality of shock absorbing springs around a piston rod. The bottom contour of the foot body 42 is in an approximately elliptic horseshoe-like structure; the elastic structure 43 is wrapped on the bottom of the foot body 42, and the external shape of the elastic structure 43 is matched with the bottom shape of the foot body 42; the pressure sensor 41 is a strip-shaped film-shaped pressure sensor arranged between the foot body 42 and the elastic structure 43, and the bottom of the foot body 42 is also provided with a distance sensor 44, wherein the elastic structure 43 adopts, but is not limited to, rubber, and the distance sensor adopts, but is not limited to, a laser distance sensor. Preferably, as shown in fig. 3 and 4, a groove is provided at the bottom center of the foot body 42, the two sides of the groove are ground contact parts, the bottom outline of the ground contact part of the foot body 42 is in a horseshoe-like structure similar to ellipse, the ground contact part is covered with an elastic structure 43 with matched shape, a strip-shaped film-shaped pressure sensor is provided between the two, and a distance sensor is provided in the groove.
Compared with the prior art, the invention carries out horseshoe-shaped symmetrical layout design on the grounding structure of the foot end 40, so that the legs are grounded in different postures and have good contact surfaces, and the robot is ensured to stably touch the ground. Meanwhile, a laser distance sensor is arranged in the middle of the U-shaped structure of the foot end 40, so that the foot end is landed with a predicted touchdown distance, feedforward information is provided for the landing buffer control of the robot leg, and preparation is made for real-time landing control.
In actual use, the shank 30 drives the foot end 40 to land and divides into two phases, namely a suspension phase, the foot end 40 is not contacted with the ground, and the laser distance sensor detects the contact height H of the foot end 40 with the ground; the other stage is the landing stage, in which the plantar horseshoe-shaped elastic structure 43 generates pressure with the ground, and the pressure is transmitted to the strip-shaped film pressure sensor 41 and senses the robot landing pressure F Pressing . Because the foot end 40 is a double-arc horseshoe-like structure, it has a good foot contact surface and stable foot pressure perception when the calf is grounded at different angles to the vertical.
The invention also provides a detection control method for the output torque of the leg of the horseshoe-shaped foot end perception robot, which adopts the leg structure of the horseshoe-shaped foot end perception robot, and the method comprises the following steps:
according to pressure sensorMeasured pressure F Pressing Calculating the torque M generated by the foot end Pressing ；
According to the pulling force F measured by the pulling force sensor Pulling device Calculating the torque M of the foot feedback Pulling device ；
The torque output device generates a torque M according to the foot end Pressing And the torque M fed back by the foot end Pulling device The difference is used to make torque compensation output, M Output of ＝M Pulling device +Δm, where Δm= (M Pressing -M Pulling device )/2。
In the specific implementation, as shown in fig. 5, the four-bar linkage is a parallelogram double-crank mechanism, L 1 For the distance from the rotation center of the calf motion cam 12 to the hinge point in this embodiment, a is the angle by which the calf motion cam 12 rotates relative to the normal direction of the thigh 20, F Pulling device Feedback tension measured by the tension sensor; l (L) 2 For the distance between the ground contact point and the hinge point of the lower leg 30 and the thigh 20, c is the angle between the thigh 20 and the horizontal line, b is the angle between the line connecting the ground contact point and the hinge point of the lower leg 30 and the thigh 20 and the main axis of the lower leg 30, F Pressing The pressure is the foot end ground contact pressure measured by a strip-shaped film-shaped pressure sensor. Due to L 1 、L 2 All of a, b and c are the motion parameters of the leg structure itself of the present invention, so that F is only known Pulling device And F Pressing Can calculate the torque M fed back by the foot end Pulling device ＝F Pulling device L 1 cosa, torque M generated at foot end Pressing ＝F Pressing L 2 cos (pi/2-a-c+b), there is hysteresis in the force transfer, i.e., the torque M fed back by the foot, due to the presence of shock absorber 60 between foot 40 and foot link 33 Pulling device Also lag in magnitude, if the moment M generated by the sole of the foot is directly applied Pressing The control output moment of the motor is directly used as the motor, so that the buffer effect is difficult to achieve, and M is adopted in the embodiment Pulling device And M is as follows Pressing 1/2 of the torque difference is taken as the control increment of the torque motor 11 to control the torque of the motor, namely, the control torque is M Output of ＝M Pulling device +Δm, where Δm= (M Pressing -M Pulling device )/2. M when robot leg is grounded and stable Pressing ＝M Pulling device I.e. the output holding torque controlled by the torque motor 11Is M Output of ＝M Pulling device ＝M Pressing At this time, the leg remains stationary to complete the landing motion.
The invention also provides a foot type robot, which adopts the horseshoe-shaped foot end sensing robot leg structure and/or the horseshoe-shaped foot end sensing robot leg output moment detection control method.
According to the foot end sensing robot leg structure in the shape of the foot, the torque output device, the thigh, the shank and the shank traction connecting rod are hinged to form a connecting rod mechanism to control the shank to rotate, and then the foot end is driven to rise and fall. Compared with the prior art, the invention detects the pressure of the ground contact point through the pressure sensor at the foot end, detects the feedback tension through the tension sensor on the lower leg traction connecting rod and feeds back the feedback tension to the torque output device, and the torque output device compensates the torque output in real time according to the torque difference caused by the ground contact pressure and the feedback tension, so that the proper torque output of the leg is achieved, and the unstable phenomenon caused by overlarge or undersize torque output is avoided.
Although terms such as torque output device, torque motor, calf motion cam, thigh, first side plate, second side plate, first connector, second connector, calf, foot end, pressure sensor, tension sensor, calf traction link, and shock absorber are more used herein, the possibility of using other terms is not precluded. These terms are used merely for convenience in describing and explaining the nature of the invention; they are to be interpreted as any additional limitation that is not inconsistent with the spirit of the present invention.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (10)
1. U-shaped foot end perception robot leg structure, its characterized in that: comprises a torque output device (10), a thigh (20), a shank (30) and a foot end (40); the thigh (20) is fixedly connected with the torque output device (10); the lower leg (30) is hinged with one end of the thigh (20), one end of the lower leg (30) is connected with the torque output device (10) through a lower leg traction connecting rod (50), and the other end of the lower leg (30) is connected with the foot end (40);
a tension sensor (51) for detecting feedback tension is arranged on the lower leg traction connecting rod (50), a pressure sensor (41) for detecting ground contact pressure is arranged at the foot end (40), and the pressure sensor (41) and the tension sensor (51) are electrically connected with the torque output device (10);
the lower end of the lower leg (30) is connected with the foot end (40) through a shock absorber (60), and the torque output device (10) is used for compensating the torque output according to the torque difference caused by the ground contact pressure and the feedback tension in real time.
2. The horseshoe-shaped foot end aware robot leg structure of claim 1, wherein: the torque output device (10) comprises a torque motor (11) and a shank movement convex disc (12), and a machine body of the torque motor (11) is fixedly connected with the thigh (20); one end of the shank movement convex disc (12) is fixedly connected with a rotating shaft of the torque motor (11), and the other end of the shank movement convex disc (12) is hinged with one end of the shank traction connecting rod (50).
3. The horseshoe-shaped foot end aware robot leg structure of claim 2, wherein: thigh (20) include first curb plate (21), second curb plate (22), first connecting piece (23) and second connecting piece (24), the both sides of torque motor (11) respectively with first curb plate (21) and second curb plate (22) link firmly, first connecting piece (23) with second connecting piece (24) are used for connecting first curb plate (21) and second curb plate (22).
4. The horseshoe-shaped foot end aware robot leg structure of claim 2, wherein: the lower leg traction connecting rod (50) further comprises a first connecting rod (52) and a second connecting rod (53), and one end of the first connecting rod (52) is connected with one end of the second connecting rod (53) through the tension sensor (51); the other end of the first connecting rod (52) is hinged with the shank movement convex disc (12), and the other end of the second connecting rod (53) is hinged with one end of the shank (30).
5. The horseshoe-shaped foot end aware robot leg structure of claim 4, wherein: the lower leg (30) comprises a lower leg rotary connecting rod (31), a lower leg connecting rod (32) and a foot end connecting piece (33), one end of the lower leg rotary connecting rod (31) is hinged with the lower end of the second connecting rod (53), and the other end of the lower leg rotary connecting rod (31) is fixedly connected with the foot end connecting piece (33) through the lower leg connecting rod (32); the lower leg rotating connecting rod (31) is hinged with the lower end of the thigh (20), and the hinge point is positioned between the two ends of the lower leg rotating connecting rod (31); the lower end of the foot end connecting piece (33) is connected with the foot end (40).
6. The horseshoe-shaped foot end aware robot leg structure of claim 5, wherein: the included angle between the axis of the lower end of the foot end connecting piece (33) and the axis of the main body of the lower leg (30) is 30-70 degrees; a shock absorber (60) for damping vibration is arranged between the foot end connecting piece (33) and the foot end (40).
7. The horseshoe-shaped foot end feel robot leg structure of any one of claims 1-6, wherein: the foot end (40) further comprises a foot body (42) and an elastic structure (43), the top of the foot body (42) is connected with the lower leg (30), and the bottom outline of the foot body (42) is of an approximately elliptic horseshoe-like structure; the elastic structure (43) is coated at the bottom of the foot body (42), and the external shape of the elastic structure (43) is matched with the bottom shape of the foot body (42); the pressure sensor (41) is a strip-shaped film-shaped pressure sensor arranged between the foot body (42) and the elastic structure (43).
8. The horseshoe-shaped foot end aware robot leg structure of claim 7, wherein: the bottom of the foot body (42) is provided with a distance sensor (44), and the distance sensor (44) is used for detecting the distance between the foot end (40) and the foot drop point.
9. A detection control method for the leg output torque of a foot-end sensing robot in a hoof shape is characterized by comprising the following steps: a horseshoe-shaped foot end feel robot leg structure as in any one of claims 1-8, the method comprising:
based on the pressure F measured by the pressure sensor Pressing Calculating the torque M generated by the foot end Pressing ；
According to the pulling force F measured by the pulling force sensor Pulling device Calculating the torque M of the foot feedback Pulling device ；
The torque output device generates a torque M according to the foot end Pressing And the torque M fed back by the foot end Pulling device The difference is subjected to torque compensation output, M Output of ＝M Pulling device +Δm, where Δm= (M Pressing -M Pulling device )/2。
10. The foot end perception robot of horse-shoe shape, its characterized in that: a horseshoe-shaped foot end sensing robot leg structure according to any one of claims 1-8 and/or a horseshoe-shaped foot end sensing robot leg output torque detection control method according to claim 9.
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| CN106491318B (en) * | 2016-12-01 | 2018-12-25 | 北京理工大学 | A kind of unpowered wearable auxiliary walking servomechanism |
| US10253855B2 (en) * | 2016-12-15 | 2019-04-09 | Boston Dynamics, Inc. | Screw actuator for a legged robot |
| CN107320292A (en) * | 2017-08-07 | 2017-11-07 | 南京理工大学 | A kind of wearable ectoskeleton power assisting device of tubular modulesization and its control method |
| CN110228545A (en) * | 2019-05-16 | 2019-09-13 | 深圳市优必选科技有限公司 | A kind of linear joint and leg biped robot |
| CN110217312A (en) * | 2019-06-05 | 2019-09-10 | 天津商业大学 | A kind of auxiliary robot suitable for steelshop |
| CN111439320B (en) * | 2020-03-31 | 2021-01-08 | 厦门大学 | Bionic crus of variable-curvature hybrid elastic buffer robot and adjusting method |
| CN111891254B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-legged robot and foot structure of foot robot |
| CN111891253B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-foot robot |
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